Abstract

This paper presents the kinematic design of a single
degree-of-freedom exoskeleton mechanism: a planar eight-bar
mechanism for finger curling. The mechanism is part of a fingerthumb
robotic device for hand therapy that will allow users to
practice key pinch grip and finger-thumb opposition, allowing
discrete control inputs for playing notes on a musical gaming
interface. This approach uses the mechanism to generate the
desired grasping trajectory rather than actuating the joints of
the fingers and thumb independently. In addition, the mechanism
is confined to the back of the hand, so as to allow sensory input
into the palm of the hand, minimal size and apparent inertia,
and the possibility of placing multiple mechanisms side-by-side
to allow control of individual fingers